Validate a configuration with respect to collision. More...
#include <hpp/core/collision-validation.hh>
Public Member Functions | |
virtual bool | validate (const Configuration_t &config, bool throwIfInValid=false) |
Compute whether the configuration is valid. More... | |
virtual bool | validate (const Configuration_t &config, ValidationReport &validationReport, bool throwIfInValid=false) |
Compute whether the configuration is valid. More... | |
virtual void | addObstacle (const CollisionObjectPtr_t &object) |
Add an obstacle. More... | |
virtual void | removeObstacleFromJoint (const JointPtr_t &joint, const CollisionObjectPtr_t &obstacle) |
Remove a collision pair between a joint and an obstacle. More... | |
Static Public Member Functions | |
static CollisionValidationPtr_t | create (const DevicePtr_t &robot) |
Protected Member Functions | |
CollisionValidation (const DevicePtr_t &robot) | |
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ConfigValidation () | |
Validate a configuration with respect to collision.
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protected |
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virtual |
Add an obstacle.
object | obstacle added Store obstacle and build a collision pair with each body of the robot. |
Reimplemented from hpp::core::ConfigValidation.
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static |
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virtual |
Remove a collision pair between a joint and an obstacle.
the | joint that holds the inner objects, |
the | obstacle to remove. collision configuration validation needs to know about obstacles. This virtual method does nothing for configuration validation methods that do not care about obstacles. |
Reimplemented from hpp::core::ConfigValidation.
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virtual |
Compute whether the configuration is valid.
config | the config to check for validity, |
throwIfInValid | if true throw an exception if config is invalid. |
Implements hpp::core::ConfigValidation.
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virtual |
Compute whether the configuration is valid.
config | the config to check for validity, |
validationReport | report on validation. This parameter will dynamically cast into CollisionValidationReport type, |
throwIfInValid | if true throw an exception if config is invalid, |
Implements hpp::core::ConfigValidation.